version: 66.04
glider: 166
mission: 2
dive: 251
start: 6 25 109 0 36 11
data:
$ID,166
$MISSION,2
$DIVE,251
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,275
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51956
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-10384.111
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.034000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1575
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2945
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.273609
$PRESSURE_SLOPE,0.0001160501
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043153614
$SEABIRD_T_H,0.00063164165
$SEABIRD_T_I,2.3580644e-05
$SEABIRD_T_J,2.4654264e-06
$SEABIRD_C_G,-9.9826469
$SEABIRD_C_H,1.1204658
$SEABIRD_C_I,-0.0010752195
$SEABIRD_C_J,0.00016642714
$GPS1,002606,2439.519,12311.755,30,1.4,30,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-64.2
$GPS2,003549,2439.622,12311.830,9,1.3,14,-3.5
$SPEED_LIMITS,0.173,0.339
$TGT_NAME,OFF_1
$TGT_LATLONG,2437.600,12250.900
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,247.9,35434,-13.2,-10.000
$D_GRID,1172
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.06,-267.7,0.0,0.0,0,109,0.00,0.00,-91.93,0.000,2,0.000,0.000,170,1589,2560
$GC,112,-1.06,-267.7,3.6,-5.9,14,165,9.27,2.15,-33.58,0.000,4,0.235,0.054,2433,196,3961
$GC,218,-0.52,-267.7,29.0,-27.5,31,225,0.62,2.03,0.00,0.000,6,0.135,0.028,2613,1598,3962
$GC,563,-0.44,-267.7,67.9,-8.4,92,570,0.00,2.05,0.00,0.000,4,0.000,0.041,2613,2955,3963
$GC,668,-0.44,-267.7,77.7,-9.9,110,674,0.00,2.03,0.00,0.000,6,0.000,0.030,2613,1558,3963
$GC,1013,-0.80,-267.7,111.0,-9.3,171,1020,0.22,2.05,0.00,0.000,4,0.055,0.041,2513,204,3963
$GC,1039,-0.95,-267.7,113.8,-10.8,175,1046,0.10,2.03,0.00,0.000,6,0.082,0.027,2465,1634,3963
$GC,1384,-0.63,-267.7,168.4,-16.9,236,1392,0.32,2.15,0.00,0.000,4,0.133,0.041,2565,199,3964
$GC,1405,-0.42,-267.7,171.5,-15.5,239,1412,0.22,2.03,0.00,0.000,6,0.113,0.026,2643,1626,3964
$GC,1749,-0.94,-267.7,205.6,-10.8,300,1756,0.45,2.12,0.00,0.000,4,0.070,0.043,2472,210,3964
$GC,1853,-0.70,-267.7,217.3,-12.3,318,1860,0.28,2.00,0.00,0.000,6,0.122,0.028,2557,1587,3964
$GC,2199,-0.83,-267.7,247.3,-9.3,379,2207,0.15,2.08,0.00,0.000,4,0.059,0.042,2480,205,3965
$GC,2252,-0.63,-267.7,253.7,-12.6,388,2259,0.30,2.08,0.00,0.000,6,0.124,0.028,2573,1657,3964
$GC,2596,-0.84,-267.7,281.9,-10.2,449,2603,0.17,2.17,0.00,0.000,4,0.058,0.043,2483,208,3963
$GC,2689,-0.69,-267.7,292.5,-11.2,465,2695,0.25,2.20,0.00,0.000,6,0.123,0.029,2561,1726,3963
$GC,3025,-0.97,-267.7,321.9,-8.8,504,3030,0.22,1.83,0.00,0.000,4,0.050,0.041,2445,2965,3962
$GC,3143,-0.80,-267.7,335.6,-12.6,514,3150,0.20,1.75,0.00,0.000,6,0.116,0.031,2531,1768,3961
$GC,3469,-0.99,-267.7,366.2,-9.7,545,3473,0.17,1.80,0.00,0.000,4,0.055,0.042,2435,2977,3959
$GC,3530,-0.85,-267.7,373.7,-12.5,550,3537,0.20,1.70,0.00,0.000,6,0.127,0.031,2502,1808,3958
$GC,3855,-0.94,-267.7,409.0,-10.5,581,3859,0.00,1.73,0.00,0.000,4,0.000,0.046,2488,2965,3956
$GC,3868,-1.02,-267.7,410.3,-10.9,582,3872,0.08,1.55,0.00,0.000,6,0.031,0.032,2426,1902,3956
$GC,4199,-0.97,-267.7,446.9,-10.5,613,4204,0.15,2.58,0.00,0.000,4,0.125,0.045,2469,201,3953
$GC,4288,-0.80,-267.7,456.4,-10.0,620,4295,0.20,2.42,0.00,0.000,6,0.129,0.033,2520,1845,3953
$GC,4614,-1.05,-267.7,477.4,-6.7,651,4618,0.20,1.67,0.00,0.000,4,0.051,0.046,2412,2972,3950
$GC,4709,-0.90,-267.7,487.0,-11.2,659,4716,0.25,1.58,0.00,0.000,6,0.127,0.033,2489,1900,3949
$GC,5030,-1.03,-267.7,519.5,-10.0,681,5035,0.12,2.58,0.00,0.000,4,0.064,0.046,2417,204,3947
$GC,5070,-0.79,-267.7,524.4,-13.0,683,5076,0.32,2.55,0.00,0.000,6,0.137,0.035,2521,1912,3946
$GC,5405,-1.03,-267.7,553.7,-8.5,699,5409,0.17,1.58,0.00,0.000,4,0.054,0.046,2416,2971,3944
$GC,5533,-0.89,-267.7,566.9,-10.0,704,5540,0.20,1.55,0.00,0.000,6,0.119,0.037,2501,1927,3943
$GC,5850,-1.08,-267.7,587.2,-6.1,720,5854,0.17,1.58,0.00,0.000,4,0.055,0.051,2410,2962,3941
$GC,5922,-0.89,-267.7,594.5,-11.3,723,5926,0.20,1.52,0.00,0.000,6,0.117,0.034,2494,1924,3941
$GC,6251,-1.12,-267.7,621.5,-8.9,739,6255,0.17,1.60,0.00,0.000,4,0.057,0.057,2396,2971,3939
$GC,6324,-0.95,-267.7,630.5,-12.9,742,6328,0.20,1.55,0.00,0.000,6,0.185,0.035,2468,1921,3938
$GC,6650,-0.95,-267.7,664.3,-9.8,758,6654,0.00,2.62,0.00,0.000,4,0.000,0.051,2462,214,3936
$GC,6791,-0.87,-267.7,679.0,-10.5,764,6796,0.15,2.53,0.00,0.000,6,0.139,0.037,2501,1887,3935
$GC,7107,-1.09,-267.7,705.3,-8.0,779,7111,0.17,1.62,0.00,0.000,4,0.057,0.051,2407,2964,3933
$GC,7236,-0.97,-267.7,718.8,-10.2,784,7243,0.17,1.55,0.00,0.000,6,0.124,0.037,2468,1926,3932
$GC,7552,-0.97,-267.7,746.0,-8.5,800,7556,0.00,2.65,0.00,0.000,4,0.000,0.052,2467,211,3929
$GC,7629,-0.97,-267.7,753.4,-9.6,803,7637,0.00,2.53,0.00,0.000,6,0.000,0.038,2467,1885,3928
$GC,7946,-0.97,-267.7,781.8,-9.5,819,7950,0.00,2.60,0.00,0.000,4,0.000,0.053,2466,214,3927
$GC,8037,-0.92,-267.7,791.8,-11.4,823,8041,0.00,2.50,0.00,0.000,6,0.000,0.039,2467,1864,3926
$GC,8363,-0.92,-267.7,823.2,-8.8,839,8368,0.00,2.58,0.00,0.000,4,0.000,0.053,2467,210,3924
$GC,8413,-0.92,-267.7,828.3,-9.9,841,8417,0.00,2.47,0.00,0.000,6,0.000,0.039,2468,1846,3924
$GC,8729,-0.92,-267.7,854.2,-8.1,856,8733,0.00,2.55,0.00,0.000,4,0.000,0.054,2470,211,3921
$GC,8769,-0.92,-267.7,857.8,-9.3,858,8773,0.00,2.47,0.00,0.000,6,0.000,0.040,2476,1838,3921
$GC,9097,-0.92,-267.7,885.2,-8.6,874,9101,0.00,2.55,0.00,0.000,4,0.000,0.054,2473,210,3920
$GC,9140,-0.89,-267.7,889.9,-10.5,876,9144,0.00,2.47,0.00,0.000,6,0.000,0.040,2485,1836,3920
$GC,9462,-0.89,-267.7,917.2,-7.4,892,9466,0.00,2.55,0.00,0.000,4,0.000,0.055,2480,214,3918
$GC,9489,-0.89,-267.7,919.5,-8.7,893,9494,0.00,2.47,0.00,0.000,6,0.000,0.041,2485,1837,3918
$GC,9806,-0.89,-267.7,943.7,-8.7,908,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1837,3916
$GC,10116,-0.89,-267.7,966.8,-7.4,923,10120,0.00,2.55,0.00,0.000,4,0.000,0.056,2480,219,3915
$GC,10156,-0.89,-267.7,970.3,-8.2,925,10160,0.00,2.45,0.00,0.000,6,0.000,0.041,2472,1820,3915
$STATE,10439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10439,begin apogee
$GC,10445,-0.28,0.0,991.9,8.9,939,10662,0.65,0.00,210.98,1.490,6,0.104,0.000,2692,1496,2945
$STATE,10662,end apogee,CONTROL_FINISHED_OK
$STATE,10662,begin climb
$GC,10665,1.06,267.7,1005.6,0.0,950,10914,1.20,0.00,245.07,1.439,6,0.044,0.000,3125,1496,1853
$GC,11223,0.49,267.7,916.9,21.0,977,11228,0.68,2.20,0.00,0.000,4,0.201,0.058,2940,2890,1845
$GC,11263,0.35,267.7,911.0,11.3,979,11268,0.20,2.15,0.00,0.000,6,0.154,0.044,2893,1507,1844
$GC,11590,0.44,334.6,885.8,8.3,995,11652,0.00,0.00,60.50,1.391,6,0.000,0.000,2893,1507,1581
$GC,11960,0.62,360.9,852.0,9.3,1013,12002,0.22,2.17,27.00,1.264,4,0.048,0.061,3010,199,1471
$GC,12030,0.38,360.9,842.0,16.9,1016,12035,0.38,2.03,0.00,0.000,6,0.140,0.044,2901,1505,1470
$GC,12358,0.59,360.9,806.4,11.3,1032,12363,0.17,2.08,0.00,0.000,4,0.054,0.060,2991,198,1467
$GC,12511,0.42,360.9,783.1,15.8,1039,12516,0.28,1.90,0.00,0.000,6,0.134,0.042,2910,1454,1466
$GC,12845,0.55,420.6,750.4,8.5,1055,12913,0.15,2.35,57.12,1.303,4,0.064,0.053,2979,2902,1231
$GC,12959,0.44,420.6,736.6,12.2,1060,12964,0.22,2.28,0.00,0.000,6,0.140,0.045,2928,1450,1227
$GC,13285,0.76,500.4,709.4,8.0,1076,13380,0.25,2.10,78.15,1.255,4,0.048,0.060,3066,204,904
$GC,13483,0.54,500.4,678.4,16.9,1085,13488,0.38,1.90,0.00,0.000,6,0.139,0.043,2956,1435,900
$GC,13810,0.62,500.4,642.1,11.1,1101,13814,0.00,1.95,0.00,0.000,4,0.000,0.059,2964,198,897
$GC,13860,0.62,500.4,636.4,11.1,1103,13864,0.00,1.88,0.00,0.000,6,0.000,0.042,2964,1417,897
$GC,14187,0.68,505.4,603.8,9.9,1119,14195,0.10,0.00,4.72,0.883,6,0.076,0.000,3022,1417,884
$GC,14496,0.59,505.4,562.7,13.1,1134,14498,0.17,0.00,0.00,0.000,6,0.131,0.000,2971,1417,884
$GC,14807,0.76,547.3,533.7,8.9,1149,14859,0.15,1.98,41.95,1.133,4,0.058,0.058,3067,195,712
$GC,14905,0.58,547.3,520.4,16.4,1153,14911,0.32,1.88,0.00,0.000,6,0.131,0.040,2971,1417,711
$GC,15226,0.85,547.3,483.4,11.4,1175,15231,0.20,2.28,0.00,0.000,4,0.049,0.045,3076,2903,710
$GC,15288,0.66,547.3,472.8,17.8,1180,15293,0.32,2.42,0.00,0.000,6,0.141,0.043,2992,1321,710
$GC,15613,0.95,547.3,430.9,11.5,1210,15618,0.22,2.42,0.00,0.000,4,0.049,0.044,3117,2904,710
$GC,15642,0.86,547.3,427.0,14.0,1212,15647,0.25,2.40,0.00,0.000,6,0.159,0.043,3058,1334,710
$GC,15966,0.78,547.3,384.2,12.9,1242,15970,0.00,2.40,0.00,0.000,4,0.000,0.051,3058,2909,710
$GC,16001,0.67,547.3,379.5,13.5,1245,16006,0.25,2.38,0.00,0.000,6,0.134,0.041,2992,1346,710
$GC,16326,0.98,547.3,344.9,10.8,1275,16331,0.25,2.38,0.00,0.000,4,0.050,0.044,3119,2914,710
$GC,16404,0.69,547.3,330.9,21.8,1281,16410,0.45,2.53,0.00,0.000,6,0.149,0.041,2998,1251,710
$GC,16732,1.06,547.3,292.1,12.2,1317,16739,0.30,1.65,0.00,0.000,4,0.053,0.054,3129,184,710
$GC,16818,0.82,547.3,276.8,18.2,1332,16825,0.25,1.55,0.00,0.000,6,0.135,0.044,3048,1214,710
$GC,17161,0.82,547.3,229.4,14.5,1393,17167,0.00,2.55,0.00,0.000,4,0.000,0.043,3047,2903,710
$GC,17235,0.82,547.3,219.9,12.3,1406,17242,0.00,2.53,0.00,0.000,6,0.000,0.040,3056,1228,710
$GC,17580,0.82,547.3,178.9,11.2,1467,17587,0.00,2.53,0.00,0.000,4,0.000,0.041,3056,2908,710
$GC,17652,0.82,547.3,170.4,11.1,1479,17658,0.00,2.47,0.00,0.000,6,0.000,0.039,3066,1261,710
$GC,17996,0.82,554.3,128.5,9.8,1540,18010,0.00,2.47,7.43,0.713,4,0.000,0.039,3067,2912,684
$GC,18084,0.82,554.3,117.4,15.3,1555,18091,0.12,2.47,0.00,0.000,6,0.136,0.038,3041,1262,684
$GC,18431,1.55,686.2,83.3,6.7,1616,18489,0.60,2.53,49.30,0.775,4,0.051,0.038,3282,2908,454
$GC,18526,1.14,686.2,67.7,19.6,1631,18534,0.52,2.50,0.00,0.000,6,0.166,0.037,3146,1272,454
$GC,18873,1.14,686.2,28.6,11.0,1692,18879,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1272,454
$STATE,19089,end climb,SURFACE_DEPTH_REACHED
$STATE,19090,begin surface coast
$FINISH,0.8,0.999256
$STATE,19119,end surface coast,CONTROL_FINISHED_OK
$STATE,19119,begin surface
$SM_CCo,19197,0.00,0.000,0,0,454,611.04
$SM_GC,1.40,7.88,0.00,0.00,0.041,0.000,0.000,142,1600,454,-8.16,0.71,611.04
$IRIDIUM_FIX,2429.95,12311.17,190998,000056
$TT8_MAMPS,0.026845
$HUMID,1539
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,25.10
$XPDR_PINGS,103
$24V_AH,22.8,54.335
$10V_AH,10.7,31.534
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,33.275,178.200,782.225,0.000,0.000,46.849,62.918,266.769,33.750,0.000,0.000,15.063,3143.825,11369.570,947.598,3576.461,728.662,0.000,2563.764,0.000,3539.394,0.000,55.725,0.000
$DEVICE_MAMPS,234.702,60.593,1490.281,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1179.637,1191.700,2001.706,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100891,1736
$CAP_FILE_SIZE,201875,0
$CFSIZE,260165632,217337856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.145, 41.9,1
$GPS,250609,055724,2439.313,12310.610,41,2.0,41,-3.5